Control method, powder sweeping robot, internal mixer and storage medium

Abstract

The invention discloses a control method, a powder sweeping robot, an internal mixer and a storage medium, and the control method comprises the following steps: when a control instruction is received, the working states of the corresponding internal mixer and the powder sweeping robot are controlled according to the control instruction, so that the powder sweeping robot is controlled to carry out powder cleaning work on the internal mixer; when the powder sweeping robot conducts powder cleaning work on the internal mixers, first state information of at least one internal mixer and second state information of at least one powder sweeping robot are obtained and recorded. When the control instruction is received, the working states of the corresponding internal mixer and the powder sweeping robot are controlled according to the control instruction, so that the powder sweeping robot is controlled to carry out powder cleaning work on the internal mixer, and the powder sweeping robot can be controlled to carry out powder cleaning on the internal mixer needing powder cleaning; and an operator does not need to manually clean the powder of the internal mixer by using a tool, so that the efficiency of cleaning the powder of the internal mixer is greatly improved, and the production cost is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent manufacturing equipment industry, and in particular to a control method, a powder sweeping robot, an internal mixer and a storage medium. Background Art

[0002] Closed rubber mixer, also known as internal mixer, plays an indispensable role in the rubber processing industry. Internal mixer is mainly used for plasticizing and mixing rubber. It uses a pair of rotors with specific shapes and relative rotation to intermittently process polymer materials in a closed environment with adjustable temperature and pressure. Internal mixer consists of a mixing chamber, rotor, sealing device, feeding and pressing device, unloading device, transmission device and machine base, etc., and is widely used in various industrial fields that require precise control of the material mixing process.

[0003] In the current operation process of the internal mixer, when the operator feeds materials into the internal mixer, and when the hammer is pressed down to approach the rotor set in the internal mixer, the polymer material powder often leaks. The leaked polymer material powder will adhere to the side wall of the internal mixer and the surface of the hammer, and cannot participate in the production process under the action of the rotor, which often affects the quality and output of the final product. To solve this problem, the existing powder cleaning method is to manually clean the polymer material powder, that is, the operator uses a tool to manually clean the polymer material powder so that it falls back above the rotor to re-participate in the mixing process.

[0004] However, the manual cleaning method of polymer material powder has low cleaning efficiency, resulting in high production costs. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present application provides a control method, a powder sweeping robot, an internal mixer and a storage medium. When a control instruction is received, the working state of the corresponding internal mixer and the powder sweeping robot is controlled according to the control instruction to control the powder sweeping robot to perform powder cleaning work on the internal mixer. The powder sweeping robot can be controlled to perform powder cleaning on the internal mixer that needs to be cleaned, and there is no need for the operator to manually clean the powder on the internal mixer using tools, thereby greatly improving the efficiency of powder cleaning on the internal mixer and reducing production costs. In addition, when the powder sweeping robot performs powder cleaning work on the internal mixer, the first state information of at least one internal mixer and the second state information of at least one powder sweeping robot are obtained and recorded, and the relevant information of the powder cleaning work process can be recorded, which is convenient for the operator to perform troubleshooting according to the first state information and the second state information, thereby ensuring the normal progress of the powder cleaning work.

[0006] To solve the above problems, the present invention provides the following technical solutions:

[0007] In a first aspect, an embodiment of the present application provides a control method, comprising: when a control instruction is received, controlling the working status of the corresponding internal mixer and the powder sweeping robot according to the control instruction, so as to control the powder sweeping robot to perform powder cleaning work on the internal mixer; when the powder sweeping robot performs powder cleaning work on the internal mixer, obtaining and recording first status information of at least one internal mixer and second status information of at least one powder sweeping robot, the first status information is used to indicate the working status of the internal mixer, and the second status information is used to indicate the working status of the powder sweeping robot.

[0008] In some implementations, the method further includes: displaying a working status of each of the internal mixers according to the first status information of each of the internal mixers.

[0009] In some embodiments, the first status information includes the current working temperature of the internal mixer and the working time of the current working state, the number of the first status information is multiple, and the acquisition time of the multiple first status information is different, and the working state of each internal mixer is displayed according to the first status information of each internal mixer, including: generating and displaying a first statistical graph representing the corresponding relationship between the working temperature and time of the internal mixer according to all the first status information of each internal mixer.

[0010] In some embodiments, the first status information includes the current working temperature of the internal mixer, the working time of the current working state, and the thickness of powder attached to the surface of the cleaning object in the internal mixer chamber of the internal mixer. The number of the first status information is multiple, and the acquisition time of the multiple first status information is different. The displaying the working state of each internal mixer according to the first status information of each internal mixer includes: generating and displaying a second statistical graph representing the corresponding relationship between the working temperature of the internal mixer, the powder thickness and the time according to all the first status information of each internal mixer.

[0011] In some embodiments, the method further includes: displaying a working status of each of the powder sweeping robots according to the second status information of each of the powder sweeping robots.

[0012] In some embodiments, the first status information includes the first position information of the internal mixer, the second status information includes the second position information and working status information of the powder sweeping robot, and the displaying the working status of each powder sweeping robot according to the second status information of each powder sweeping robot includes: displaying whether the powder sweeping robot is performing powder cleaning work on the internal mixer according to the working status information of each powder sweeping robot; when the powder sweeping robot is performing powder cleaning work on the internal mixer, displaying the working time of the current working state of the powder sweeping robot and / or the remaining time of the current working state according to the working status information of the powder sweeping robot, and displaying the current position of the powder sweeping robot and the current position of the corresponding internal mixer according to the second position information of the powder sweeping robot and the first position information of the corresponding internal mixer.

[0013] In some embodiments, the method further includes: whenever it is determined according to the second status information that the powder sweeping robot is performing powder cleaning work on the internal mixer, acquiring and displaying in real time a first image taken by the powder sweeping robot of the mixing chamber of the internal mixer.

[0014] In some embodiments, when a control instruction is received, the working states of the corresponding internal mixer and the powder sweeping robot are controlled according to the control instruction to control the powder sweeping robot to perform powder cleaning on the internal mixer, including: when a first control instruction is received, the first target powder sweeping robot corresponding to the first control instruction is controlled to move to the corresponding first target internal mixer, and the first target internal mixer is controlled to stop working and open the feed door; the first target powder sweeping robot is controlled to use at least one powder sweeping workpiece to perform powder cleaning on the internal mixer chamber of the first target internal mixer; and / or when a second control instruction is received, the second target powder sweeping robot corresponding to the second control instruction is controlled to stop powder cleaning, and the corresponding second target internal mixer is controlled to close the feed door and continue working.

[0015] In some embodiments, the method further includes: judging whether the internal mixer is in a normal working state based on the first state information of each internal mixer; when it is judged that the internal mixer is not in a normal working state, controlling the powder sweeping robot corresponding to the internal mixer to cancel the cleaning task corresponding to the internal mixer.

[0016] In some embodiments, the first status information includes the current working temperature and current working status of the internal mixer, and judging whether the internal mixer is in a normal working state based on the first status information of each internal mixer includes: when the current working temperature is higher than the warning temperature, judging that the internal mixer is not in a normal working state; or when the current working state is a fault state, judging that the internal mixer is not in a normal working state, otherwise judging that the internal mixer is in a normal working state.

[0017] In some embodiments, the method also includes: judging whether the powder sweeping robot is in a normal working state based on the second status information of the powder sweeping robot corresponding to each of the internal mixers; when it is judged that the powder sweeping robot is not in a normal working state, selecting one of the powder sweeping robots from other powder sweeping robots in a normal working state according to preset rules as the powder sweeping robot corresponding to the internal mixer, and the powder sweeping robot corresponding to the internal mixer is used to perform powder cleaning work on the internal mixing chamber of the internal mixer.

[0018] In some embodiments, the second status information includes second position information and working status information of the powder sweeping robot, and the judging of whether the powder sweeping robot is in a normal working state based on the second status information of the powder sweeping robot corresponding to each of the internal mixers includes: when it is judged based on the second status information that the powder sweeping robot corresponding to the internal mixer does not move for a first preset time and is not in a charging state, it is judged that the powder sweeping robot is not in a normal working state; or when it is judged based on the working status information that the powder sweeping robot is in a fault state, it is judged that the powder sweeping robot is not in a normal working state; otherwise, it is judged that the powder sweeping robot is in a normal working state.

[0019] In some embodiments, the first status information also includes the first position information of the internal mixer, and the second status information also includes the second position information of the powder sweeping robot. When it is determined that the powder sweeping robot is not in a normal working state, one of the powder sweeping robots in a normal working state is selected as the powder sweeping robot corresponding to the internal mixer according to a preset rule, including: when it is determined that the powder sweeping robot is not in a normal working state, the cleaning time period of the internal mixer is determined based on the first status information of the internal mixer; all the powder sweeping robots that are idle within the cleaning time period of the internal mixer are determined based on the second status information of all the powder sweeping robots; based on the first position information of the internal mixer and the corresponding second position information of all the idle powder sweeping robots, one of the idle powder sweeping robots that is closest to the internal mixer is selected as the powder sweeping robot corresponding to the internal mixer.

[0020] In a second aspect, an embodiment of the present application provides a powder sweeping robot, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the control method described in the first aspect.

[0021] In the third aspect, an embodiment of the present application provides an internal mixer, comprising an internal mixer body and a powder sweeping robot as described in the second aspect, wherein the powder sweeping robot is installed on the internal mixer body, a mixing chamber is provided on the internal mixer body, a pressure hammer is provided in the mixing chamber, and the powder sweeping robot is used to drive a powder sweeping workpiece to clean powder on the inner wall of the mixing chamber and the surface of the pressure hammer.

[0022] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores an executable program, and the executable program is executed by a processor to implement the control method as described in the first aspect.

[0023] The present application provides a control method, a powder sweeping robot, an internal mixer and a storage medium. When a control instruction is received, the present application controls the working state of the corresponding internal mixer and the powder sweeping robot according to the control instruction to control the powder sweeping robot to perform powder cleaning on the internal mixer. The powder sweeping robot can be controlled to perform powder cleaning on the internal mixer that needs to be cleaned, and there is no need for the operator to manually clean the powder on the internal mixer using tools, thereby greatly improving the efficiency of powder cleaning on the internal mixer and reducing production costs. In addition, when the powder sweeping robot performs powder cleaning on the internal mixer, the first state information of at least one internal mixer and the second state information of at least one powder sweeping robot are obtained and recorded, and the relevant information of the powder cleaning process can be recorded, so that the operator can troubleshoot according to the first state information and the second state information, thereby ensuring the normal progress of the powder cleaning work. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feed door is closed.

[0025] Figure 2 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feed door is opened.

[0026] Figure 3 It is a schematic diagram of a first state in which a pressure hammer is pressed downward in the internal mixer of an embodiment of the present application.

[0027] Figure 4 It is a schematic diagram of the second state in which the pressure hammer in the mixing chamber of the internal mixer of the embodiment of the present application is pressed downward.

[0028] Figure 5 It is a schematic diagram of the third state of the pressure hammer pressing down in the internal mixer of the embodiment of the present application.

[0029] Figure 6 It is a schematic diagram of the first application scenario of the control method provided in an embodiment of the present application.

[0030] Figure 7 It is a schematic diagram of a second application scenario of the control method provided in an embodiment of the present application.

[0031] Figure 8 It is a schematic diagram of a third application scenario of the control method provided in an embodiment of the present application.

[0032] Fig. 9 This is a three-dimensional view of a brush and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used for an internal mixer according to an embodiment of the present application.

[0033] Fig.10 This is a top view of a brush and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application.

[0034] Fig.11 This is a top view of a scraper and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application.

[0035] Fig.12 This is a side view of a scraper and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application.

[0036] Fig.13 This is a three-dimensional view of the friction block and the insertion shaft of the powder sweeping workpiece in the powder sweeping robot applied to the internal mixer according to the embodiment of the present application.

[0037] Fig.14 This is a top view of the friction block and the plug-in shaft of the powder sweeping workpiece in the powder sweeping robot applied to the internal mixer according to the embodiment of the present application.

[0038] Fig.15 This is a three-dimensional view of the first mounting seat of the powder sweeping robot applied to the internal mixer according to an embodiment of the present application.

[0039] Fig.16 This is a top view of the first mounting seat of the powder sweeping robot used in the internal mixer according to an embodiment of the present application.

[0040] Fig.17 It is a flow chart of the control method provided in the embodiment of the present application.

[0041] Fig.18 yes Fig.17 Detailed flowchart of step S100 in FIG.

[0042] Fig.19AThis is the first schematic diagram of a working scene of powder cleaning work for an internal mixer provided in an embodiment of the present application.

[0043] Fig.19B This is a second schematic diagram of a working scene of powder cleaning work for an internal mixer provided in an embodiment of the present application.

[0044] Fig.19C This is the third schematic diagram of the working scene of powder cleaning work for an internal mixer provided in an embodiment of the present application.

[0045] Fig.19D This is the fourth schematic diagram of the working scene of powder cleaning work for an internal mixer provided in an embodiment of the present application.

[0046] Fig.19E This is the fifth schematic diagram of the working scene of powder cleaning work for an internal mixer provided in an embodiment of the present application.

[0047] Fig. 20 It is a structural schematic diagram of a powder sweeping robot provided in an embodiment of the present application.

[0048] Fig.21 It is a structural block diagram of a computer-readable storage medium provided in an embodiment of the present application. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0050] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0051] The present application provides a control method, a powder sweeping robot, an internal mixer and a storage medium. When a control instruction is received, the working state of the corresponding internal mixer and the powder sweeping robot is controlled according to the control instruction to control the powder sweeping robot to perform powder cleaning work on the internal mixer. The powder sweeping robot can be controlled to perform powder cleaning on the internal mixer that needs to be cleaned, and there is no need for an operator to manually clean the powder on the internal mixer using tools, thereby greatly improving the efficiency of powder cleaning on the internal mixer and reducing production costs. In addition, when the powder sweeping robot performs powder cleaning work on the internal mixer, the first state information of at least one internal mixer and the second state information of at least one powder sweeping robot are obtained and recorded, which can facilitate the operator to perform troubleshooting according to the first state information and the second state information, thereby ensuring the normal progress of the powder cleaning work.

[0052] In some embodiments, the control method provided in the present application is performed by a powder sweeping robot.

[0053] In some implementations, the control method provided in the present application is executed by a control terminal.

[0054] Optionally, the control terminal may be an electronic device such as a computer, a mobile phone or a watch.

[0055] See also Figures 1 to 5 , Figure 1 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feed door is closed. Figure 2 It is a front view structural schematic diagram of the internal mixer of the embodiment of the present application when the feed door is opened. Figure 3 It is a schematic diagram of a first state in which a pressure hammer is pressed downward in the internal mixer of an embodiment of the present application. Figure 4 It is a schematic diagram of the second state in which the pressure hammer in the mixing chamber of the internal mixer of the embodiment of the present application is pressed downward. Figure 5 1 is a schematic diagram of the third state of the hammer pressing down in the mixing chamber of the internal mixer of the embodiment of the present application. When it is necessary to feed materials into the mixing chamber 12 of the internal mixer 1, the internal mixer 1 controls the feed door 11 to open and the hammer 13 to rise to the top, as shown in FIG. Figure 2 As shown, at this time, powder can be added into the mixing chamber 12 through the channel opened by the feeding door 11. When the feeding into the mixing chamber 12 is completed, the mixer 1 controls the feeding door 11 to close. Figure 1 As shown in FIG. 1 , at this time, the hammer 13 in the mixing chamber 12 will start to cooperate with the rotor 14 to perform the powder processing work. Figures 3 to 5As shown, the hammer 13 is pressed down by the hammer connecting rod to press the powder poured into the mixing chamber 12 onto the rotor 14, and the powder is gradually melted by the pressure of the hammer 13, the rotation of the rotor 14 and the heating. It is understandable that in the process of feeding into the mixing chamber 12 and pressing the hammer 13 down, part of the powder put into the mixing chamber 12 may adhere to the inner wall of the mixing chamber 12 and / or the hammer 13, and this part of the powder will not be added to the mixing work between the hammer 13 and the rotor 14, resulting in a gap between the actual output and the expected output. For this part of the powder, workers generally clean it according to the specified time or specified process, sweep it off the inner wall of the mixing chamber 12 and the hammer 13, and let it fall naturally onto the rotor 14 to rejoin the mixing work. However, manually using tools to clean the side walls of the mixing chamber 12 and the pressure hammer 13 is unstable. Workers may forget to sweep the powder or fail to sweep the powder properly due to personal factors. At the same time, the polymer material powder may be inhaled into the respiratory tract of workers during the flying process. Long-term exposure may cause respiratory diseases, which is not good for the health of workers.

[0056] The control method provided by the present application will be described in detail below with reference to the accompanying drawings.

[0057] See also Figures 6 to 8 , Figure 6 It is a schematic diagram of the first application scenario of the control method provided in an embodiment of the present application. Figure 7 It is a schematic diagram of a second application scenario of the control method provided in an embodiment of the present application. Figure 8 is a schematic diagram of a third application scenario of the control method provided in the embodiment of the present application. Figures 6 to 8 As shown, in some embodiments, the powder sweeping robot 2 applied to the internal mixer 1 includes a driving device 21 and a powder sweeping device 22, the driving device 21 is used to drive the powder sweeping device 22 to move and / or rotate, the powder sweeping device 22 includes a powder sweeping workpiece 222, and the powder sweeping workpiece 222 is used to perform powder cleaning on the surface of the cleaning object.

[0058] In some embodiments, the cleaning objects include the inner wall of the mixing chamber and the pressure hammer.

[0059] Optionally, the cleaning object also includes a hammer connecting rod.

[0060] For further information, please refer to Figures 6 to 8 Considering the supply and demand relationship and actual performance of the internal mixer 1 and the powder sweeping robot 2, the user can select the installation relationship between the powder sweeping robot 2 and the internal mixer 1 according to actual needs.

[0061] In some embodiments, Figure 6As shown, the fixed end of the driving device 21 is installed on the internal mixer 1, which means that the powder sweeping robot 2 in this embodiment is integrated with the internal mixer 1 on which it is installed. When the internal mixer 1 needs to perform powder cleaning work, the powder sweeping robot 2 can quickly execute it, and quickly extend the powder sweeping device 22 into the internal mixer chamber 12 and the pressure hammer 13 through the driving device 21, so that the powder on the surface of the cleaning object can be cleaned.

[0062] In some embodiments, Figure 7 and Figure 8 As shown, the powder sweeping robot 2 also includes a transfer device 23, and the fixed end of the driving device 21 is installed on the transfer device 23, and the transfer device 23 is used to drive the driving device 21 to approach or move away from the internal mixer 1. Optionally, the transfer device 23 can be a ground rail laid on the floor of the workshop and a ground slide slidably connected to the ground rail, and the fixed end of the driving device 21 is installed on the ground slide. Optionally, the transfer device 23 can also be an AGV trolley, and the fixed end of the driving device 21 is installed on the AGV trolley. Optionally, the transfer device 23 can also be a suspended rail installed on the ceiling of the workshop or in the air and a suspended slide slidably connected to the suspended rail, and the fixed end of the driving device 21 is installed on the suspended slide. Optionally, in other embodiments, the transfer device 23 can also be other devices that can drive the driving device 21 to approach or move away from the internal mixer 1, which will not be repeated here. It can be understood that the powder sweeping robot 2 in this embodiment can serve multiple internal mixers 1 in the entire workshop. When receiving an instruction that a certain internal mixer 1 needs to perform powder cleaning work, the transfer device 23 will drive the driving device 21 to move to the target position according to the instruction. During the movement, the position and distance can be monitored in real time by the sensor or visual system installed on the transfer device 23 to ensure accurate arrival. When the driving device 21 reaches the target position, it starts to work and extends the powder sweeping device 22 into the internal mixer chamber 12 to perform powder cleaning work. After the work is completed, the transfer device 23 moves according to the instruction of the next internal mixer 1. Through the transfer device 23, the powder sweeping robot 2 of this embodiment can quickly move and switch between different internal mixers 1, which greatly improves the flexibility of powder cleaning work. At the same time, since the powder sweeping robot 2 can be shared between different internal mixers 1, it is not necessary to equip each internal mixer 1 with a powder sweeping robot 2, thereby reducing equipment costs.

[0063] In some embodiments, in order to make the powder sweeping robot 2 more flexible in performing operations, the driving device 21 of this embodiment includes a freely movable mechanical arm, and the powder sweeping device 22 is connected to the free end of the mechanical arm. The mechanical arm is used to send the powder sweeping device 22 from the internal mixer 1 to the internal mixer chamber 12 to perform powder cleaning work, and the high degree of freedom of the mechanical arm is used to carry the powder sweeping device 22 to move, which greatly improves the efficiency of the powder cleaning work.

[0064] In some embodiments, the robot arm is a multi-axis robot arm, such as a three-axis robot arm, a four-axis robot arm, a five-axis robot arm, a six-axis robot arm, or a seven-axis robot arm, etc. It is understandable that the robot arm is classified according to its number of axes (i.e., the number of degrees of freedom), which represents the number of directions in which the robot arm can move independently. Therefore, the higher the number of axes of the robot arm, the more flexible the robot arm is, but the corresponding cost is also higher. Users can choose a robot arm with a suitable number of axes according to their actual needs.

[0065] Preferably, a six-axis robot is selected as the driving device 21. It should be explained that this embodiment only illustrates a limited number of examples of the robot of the driving device 21, and in other embodiments, other devices that can drive the powder sweeping device 22 to move and / or rotate can also be used, which will not be described in detail here.

[0066] For further information, see Figures 9 to 14 , Fig. 9 This is a three-dimensional view of a brush and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used for an internal mixer according to an embodiment of the present application. Fig.10 This is a top view of a brush and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.11 This is a top view of a scraper and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.12 This is a side view of a scraper and an insertion shaft for sweeping powder workpieces in a powder sweeping robot used in an internal mixer according to an embodiment of the present application. Fig.13 This is a three-dimensional view of the friction block and the insertion shaft of the powder sweeping workpiece in the powder sweeping robot applied to the internal mixer according to the embodiment of the present application. Fig.14 This is a top view of the friction block and the plug shaft of the powder sweeping workpiece in the powder sweeping robot used in the internal mixer according to the embodiment of the present application. Figures 9 to 14 As shown, in order to meet the cleaning requirements under different working conditions, the powder sweeping workpiece 222 at least includes a brush 2221 or a scraper 2222 or a friction cloth or a friction block 2223 or a powder suction component or a powder blowing component. It should be explained that the brush 2221, scraper 2222, friction cloth, and friction block 2223 are used to directly contact the cleaning object (such as the mixing chamber 12 or the pressure hammer 13) for cleaning, while the powder suction component and the powder blowing component act on the surface of the mixing chamber 12 or the pressure hammer 13 through airflow for cleaning.

[0067] Among them, there are four implementation methods for sweeping the powder workpiece 222:

[0068] Embodiment 1: The powder sweeping workpiece 222 includes one of a brush 2221, a scraper 2222, a friction cloth, a friction block 2223, a powder suction component, and a powder blowing component.

[0069] Embodiment 2: The powder-sweeping workpiece 222 includes a powder suction component and one of a brush 2221 , a scraper 2222 , a friction cloth, and a friction block 2223 .

[0070] Embodiment 3: The powder-sweeping workpiece 222 includes a powder blowing assembly and one of a brush 2221 , a scraper 2222 , a friction cloth, and a friction block 2223 .

[0071] Embodiment 4: The powder sweeping workpiece 222 includes a powder suction component and a powder blowing component, and one of the brush 2221 , the scraper 2222 , the friction cloth, and the friction block 2223 .

[0072] Among them, this application will introduce three embodiments of the powder sweeping workpiece 222 in detail, namely the powder sweeping workpiece 222a, the powder sweeping workpiece 222b, and the powder sweeping workpiece 222c.

[0073] Specifically, see Fig. 9 and Fig.10 , Fig. 9 and Fig.10 The powder sweeping workpiece 222a is included, and the powder sweeping workpiece 222a includes a brush 2221, an insert shaft 2224a, a first air hole 22241a, and a second air hole 2225a. The brush 2221 has bristles 22211, which are used to form point contact with the cleaning object. The first air hole 22241a is arranged on the insert shaft 2224a, and the second air hole 2225a is arranged on the brush 2221. The functions of the insert shaft 2224a, the first air hole 22241a, and the second air hole 2225a will be introduced in the following part of the specification, and will not be repeated here. Furthermore, the insert shaft 2224a is also provided with a second threaded hole 22242a and a clamping protrusion 22243a. The functions of the second threaded hole 22242a and the clamping protrusion 22243a will be introduced in the following part of the specification, and will not be repeated here.

[0074] Specifically, see Fig.11 and Fig.12 , Fig.11 and Fig.12The powder sweeping workpiece 222b includes a scraper 2222, an insert shaft 2224b, a first air hole 22241b, and a second air hole 2225b. The scraper 2222 has an edge 22221 for forming a line contact with the cleaning object. The first air hole 22241b is arranged on the insert shaft 2224b, and the second air hole 2225b is arranged on the scraper 2222. The insert shaft 2224b is used to be plugged into the socket 2212 on the first mounting seat 221. The first air hole 22241b is used to connect to the exhaust end of the second air pump, and the second air hole 2225b is used to blow air flow toward the cleaning object, so that while the edge 22221 scrapes off the powder, the air flow blown out through the second air hole 2225b can also blow and take away the polymer material powder attached to the side wall of the internal mixer 1 or the pressure hammer 13, thereby achieving efficient cleaning. Furthermore, a second threaded hole 22242b and a clamping protrusion 22243b are also provided on the insertion shaft 2224b. The functions of the second threaded hole 22242b and the clamping protrusion 22243b are the same as those of the second threaded hole 22242a and the clamping protrusion 22243a, which will not be repeated here.

[0075] Specifically, see Fig.13 and Fig.14 , Fig.13 and Fig.14 The powder sweeping workpiece 222c includes a friction block 2223, an insert shaft 2224c, a first air hole 22241c, and a second air hole 2225c. The friction cloth / friction block 2223 has a rough surface 22231 for forming a surface contact with the cleaning object. It should be explained that the difference between the friction cloth and the friction block 2223 is that the friction cloth is soft and the friction block 2223 is hard. It can be understood that while the rough surface 22231 rubs to cause the polymer material powder on the side wall of the internal mixer 1 or the pressure hammer 13 to fall off, the air flow blown out through the second air hole 2225c also blows and takes away the polymer material powder attached to the side wall of the internal mixer 1 or the pressure hammer 13, thereby achieving efficient cleaning. Furthermore, a second threaded hole 22242c and a clamping protrusion 22243c are also provided on the insertion shaft 2224c. The functions of the second threaded hole 22242c and the clamping protrusion 22243c are the same as those of the second threaded hole 22242a and the clamping protrusion 22243a, which will not be repeated here.

[0076] Specifically, the brush 2221 , the scraper 2222 , the friction cloth, and the friction block 2223 are all provided with plug-in shafts, and the scraper 2222 , the friction cloth, and the friction block 2223 are detachably connected with the socket 2212 provided on the first mounting seat 221 through the plug-in shafts.

[0077] Optionally, the following Fig. 9 and Fig.10For example, the second threaded hole 22242a is provided on the plug shaft 2224a. During installation, a screw can be used to pass through the first mounting seat 221 and the second threaded hole 22242a to achieve a stable connection between the plug shaft 2224a and the first mounting seat 221, thereby achieving a stable connection between the brush 2221 or the scraper 2222 or the friction cloth or the friction block 2223 and the first mounting seat 221. Optionally, a snap-fitting protrusion 22243a is also provided on the plug shaft 2224a, and the snap-fitting protrusion 22243a is used to form a snap-fitting relationship between the plug shaft 2224a and the socket 2212.

[0078] Optionally, the brush 2221 may be a roller brush or a scrub brush. The roller brush may rotate relative to the insertion shaft 2224a, while the scrub brush may be fixed to the insertion shaft 2224a.

[0079] For further information, see Fig.15 and Fig.16 , Fig.15 This is a three-dimensional view of the first mounting seat of the powder sweeping robot applied to the internal mixer according to an embodiment of the present application. Fig.16 The top view of the first mounting seat in the powder sweeping robot used for the internal mixer in the embodiment of the present application. Considering the various options of assembling the powder sweeping workpiece 222 on the powder sweeping robot 2 under different working conditions, in some embodiments, the powder sweeping device 22 also includes a first mounting seat 221, the first mounting seat 221 is connected to the driving device 21, and the powder sweeping workpiece 222 is detachably connected to the first mounting seat 221. The user can easily replace the powder sweeping workpiece 222 to adapt to different cleaning needs and working conditions, thereby improving the flexibility and applicability of the equipment. Specifically, the brush 2221, the scraper 2222, the friction cloth and the friction block 2223 in the powder sweeping workpiece 222 are detachably connected to the first mounting seat 221.

[0080] Optionally, a socket 2212 is provided on the first mounting seat 221, and the brush 2221, scraper 2222, friction cloth and friction block 2223 in the powder sweeping workpiece 222 are all provided with plug-in shafts. The brush 2221 / scraper 2222 / friction cloth / friction block 2223 can be inserted into the socket 2212 on the first mounting seat 221 through the plug-in shafts provided thereon. Through simple plug-in operations, the operator can quickly replace the powder sweeping workpiece 222.

[0081] See also Fig.15 as well as Fig.16In some embodiments, the powder suction assembly includes a powder suction container 223, a first air pump, and a dust suction head, wherein the first air pump is used to provide a negative pressure environment inside the powder suction container 223, and the dust suction head is used to provide a channel for introducing external fluid into the inside of the powder suction container 223. It should be explained that although the brush 2221 / scraper 2222 / friction cloth / friction block 2223 in the powder sweeping workpiece 222 can separate the powder adhered to the mixing chamber 12 or the pressure hammer 13 to a large extent, the powder separated from the mixing chamber 12 or the pressure hammer 13 may not fall directly onto the rotor 14, but re-adhere to the mixing chamber 12 or the pressure hammer 13 after a short period of floating. Based on this, the powder suction assembly in this embodiment provides negative pressure for the powder suction container 223 through the first air pump, and the negative pressure is transmitted to the dust suction head, so that the dust suction head has the pressure to suck the external fluid into the powder suction container 223. As a result, the powder floating in the mixing chamber 12 will be sucked into the powder suction container 223 by the dust suction head under the suction action of the first air pump, effectively avoiding the situation where the powder swept off the powder sweeping workpiece 222 re-adheres to the cavity wall of the mixing chamber 12 or the pressure hammer 13 after floating.

[0082] Preferably, the dust suction head is mounted on the first mounting seat 221. Optionally, at least two dust suction heads are evenly arranged around the plug hole 2212, and the dust suction port of the dust suction head faces the same direction as the insertion port of the plug hole 2212. Optionally, the dust suction head is a dust suction pipe 2235, and a dust suction hole 2211 is provided on the first mounting seat 221, one end of the dust suction pipe 2235 is connected to the dust suction hole 2211, and the other end is connected to the powder suction container 223.

[0083] In some embodiments, the powder blowing assembly includes a second air pump, which is used to provide airflow to blow the powder off the cleaning object. It should be explained that the airflow provided by the second air pump can be blown directly toward the cleaning object through the air nozzle, or can be blown through the air path channel on the brush 2221 / scraper 2222 / friction cloth / friction block 2223 in the powder sweeping workpiece 222 to act on the cleaning object, which is not limited in this embodiment.

[0084] Furthermore, in this embodiment, an explanation is given for the airflow provided by the second air pump being blown out through the air path on the brush 2221 / scraper 2222 / friction cloth / friction block 2223 provided in the powder sweeping workpiece 222 to act on the cleaning object. In this embodiment, the brush 2221, scraper 2222, friction cloth, and friction block 2223 all include an insert shaft and a second air hole provided on the insert shaft. The insert shaft is used to be plugged into the socket 2212 on the first mounting seat 221. The second air hole is used to be plugged into the connecting column 2215 in the socket 2212, and the air vent 22151 on the connecting column 2215 is connected to the second air hole. Fig. 9 and Fig.10As an example, the powder sweeping workpiece 222a in the embodiment is provided with a first air hole 22241a and a second air hole 2225a, the first air hole 22241a and the second air hole 2225a are connected through an air passage built into the powder sweeping workpiece 222a, and the exhaust end of the second air pump is connected to the first air hole 22241a to provide an outward airflow to the second air hole 2225a. It can be understood that the powder sweeping robot 2 of this embodiment can convey an airflow to the powder sweeping workpiece 222a through the second air pump, and by using the airflow to blow the powder, the polymer material powder attached to the side wall of the internal mixer 1 or the pressure hammer 13 can be removed more quickly and thoroughly. When the powder sweeping robot 2 provides compressed gas to the first air hole 22241a through the second air pump, the gas will be ejected from the second air hole 2225a, and the ejected airflow can blow and take away the polymer material powder attached to the side wall of the internal mixer 1 or the pressure hammer 13, thereby achieving efficient cleaning.

[0085] In some embodiments, a connecting column 2215 is provided at the bottom of the socket 2212 on the first mounting seat 221, and an air vent 22151 is provided on the connecting column 2215 to connect the two ends thereof, one end of the air vent 22151 is connected to the socket 2212, and the other end is connected to the exhaust end of the second air pump through an air pipe; taking the powder sweeping workpiece 222a as an example, a first air vent 22241a is provided at the end of the plug shaft 2224a away from the brush 2221, and a second air vent 2225a is provided on the brush 2221, and the first air vent 22241a and the second air vent 2225a are connected through an air duct built into the workpiece body; when the plug shaft 2224a is inserted into the socket 2212, the connecting column 2215 is inserted into the first air vent 22241a, and the exhaust end of the second air pump is connected to the second air vent 2225a.

[0086] Optionally, a first threaded hole is radially opened on the side wall of the insertion hole 2212, and a corresponding second threaded hole 22242a is arranged on the outer side wall of the insertion shaft 2224a of the powder sweeping workpiece 222a. The threads of the first threaded hole and the second threaded hole 22242a are continuous, and only when the clamping protrusion 22243a is located at the connecting position of the second groove and the third groove to be in a self-locking state, the first threaded hole and the second threaded hole 22242a are aligned and connected. At this time, the first threaded hole and the second threaded hole 22242a can be connected by screws to make the connection between the powder sweeping workpiece 222a and the powder sweeping robot 2 more stable.

[0087] Optionally, the connecting column 2215 is disposed at the center of the bottom of the insertion hole 2212 , and at least one of the elastic members 2214 disposed at the bottom of the insertion hole 2212 is a spring and is disposed around the outer circumference of the connecting column 2215 .

[0088] Optionally, a sealing ring is provided on the outer periphery of the connecting column 2215, and the sealing ring can make the connection between the connecting column 2215 and the first air hole 22241a more airtight and stable.

[0089] In some embodiments, the powder sweeping workpiece 222 includes a brush 2221, a scraper 2222, a friction cloth, one of the friction blocks 2223, a powder suction component and a powder blowing component. The powder suction component collects powder through the negative pressure airflow provided by the first air pump, and the powder blowing component blows the powder through the positive pressure airflow provided by the second air pump. The first air pump and the second air pump are the same air pump. It should be noted that in order to prevent the powder in the mixing chamber 12 of the mixer 1 from entering through the second air hole and being retained in the first air hole and the vent 22151, a filter can be set at the second air hole in this embodiment to prevent external powder from pouring in through the second air hole. In this embodiment, the same air pump is used to simultaneously realize the air source supply to the powder blowing component and the powder suction component, which effectively reduces the product production cost and makes the collaborative work of the powder blowing component and the powder suction component more coordinated.

[0090] See also Fig.17 , Fig.17 Schematic diagram of the control method provided in the embodiment of the present application. Fig.17 As shown, the control method includes: step S100 to step S200.

[0091] Step S100: When a control instruction is received, the working states of the corresponding internal mixer and the powder sweeping robot are controlled according to the control instruction, so as to control the powder sweeping robot to perform powder cleaning work on the internal mixer.

[0092] In some embodiments, the working states of the corresponding internal mixer and the corresponding powder sweeping robot are controlled according to a control instruction.

[0093] In some embodiments, controlling a powder sweeping robot to perform powder cleaning on an internal mixer includes: controlling the working status of the powder sweeping robot and the internal mixer to control the start of the powder cleaning work; controlling the working status of the powder sweeping robot and the internal mixer to control the process of the powder cleaning work, and controlling the working status of the powder sweeping robot and the internal mixer to control the end of the powder cleaning work.

[0094] See also Fig.18 , Fig.18 yes Fig.17 The detailed flow chart of step S100 in FIG. Fig.18 As shown, in some embodiments, step S100 includes steps S110 to S130.

[0095] Step S110: When the first control instruction is received, the first target powder sweeping robot corresponding to the first control instruction is controlled to move to the corresponding first target internal mixer, and the first target internal mixer is controlled to stop working and open the feeding door.

[0096] Step S120: controlling the first target powder sweeping robot to use at least one powder sweeping workpiece to perform powder cleaning on the mixing chamber of the first target internal mixer.

[0097] In some embodiments, when the first target internal mixer completes the powder cleaning work, the first target powder sweeping robot automatically controls the corresponding first target internal mixer to close the feed door and continue working.

[0098] In some implementations, step S120 includes steps S121 to S124.

[0099] Step S121: sending a third control instruction to the first target internal mixer to enable the internal mixer to open a feed door.

[0100] Step S122: controlling at least one powder sweeping workpiece to clean the powder in the mixing chamber of the internal mixer.

[0101] As described above, in some embodiments, the powder sweeping workpiece includes at least one of a brush, a scraper, a friction cloth, a friction block, a powder suction component and a powder blowing component. The brush can be a roller brush or a plate brush.

[0102] In some embodiments, step S122 includes steps S1221 to S1228.

[0103] Step S1221: sending a fourth control instruction to the internal mixer to put the hammer of the internal mixer in a falling state.

[0104] See also Fig.19A , Fig.19A 1 is a first schematic diagram of a working scene of powder cleaning work for an internal mixer provided in an embodiment of the present application. Fig.19A As shown, in some embodiments, the powder sweeping robot 2 performs powder cleaning work on the internal mixer 1.

[0105] In some embodiments, the mixer body is provided with a feed door 11 for closing the mixer chamber. In some embodiments, during the powder cleaning process, the feed door 11 remains in a falling state so that the powder sweeping robot 2 can clean the powder of the mixer 1.

[0106] Step S1222: Control the powder sweeping workpiece to clean the powder on the surface of the hammer connecting rod 30 .

[0107] In some embodiments, because the powder on the surface of the hammer connecting rod 30 will fall into the mixing chamber or the surface of the hammer 13, the powder on the surface of the hammer connecting rod 30 is first cleaned.

[0108] In some embodiments, the control plate brush performs powder cleaning on the surface of the pressure hammer connecting rod 30. Because the surface curvature of the pressure hammer connecting rod 30 is relatively large, a plate brush with relatively large bristle bending degree is selected to perform powder cleaning on the surface of the pressure hammer connecting rod 30.

[0109] It can be understood that the powder sweeping robot 1 includes a powder sweeping workpiece and a multi-axis robotic arm, so the powder sweeping robot 1 can change the position and angle of the powder sweeping workpiece through the multi-axis robotic arm to completely clean the powder on the surface of the cleaning object.

[0110] Step S1223: when the hammer of the internal mixer is in a falling state, controlling the powder sweeping workpiece to clean the powder on the first side surface of the inner wall of the internal mixer.

[0111] The inner wall of the mixing chamber includes a first side surface, a second side surface and a third side surface. The first side surface and the second side surface are opposite to each other and are not blocked by the pressure hammer. The third side surface is blocked by the pressure hammer when the pressure hammer is in a falling state.

[0112] In some embodiments, the powder sweeping workpiece includes a roller brush, a scraper, a plate brush, a powder blowing assembly, a powder suction assembly, and the like.

[0113] In some embodiments, the roller brush is controlled to clean the powder on the first side of the inner wall of the mixing chamber. Because the area of ​​the inner wall of the mixing chamber is large, a roller brush with a larger cleaning area is selected to clean the powder on the inner wall of the mixing chamber. In this way, the cleaning efficiency can be improved.

[0114] like Fig.19A As shown, in some embodiments, the roller brush 2221A is controlled to clean the powder on the first side surface A1 of the inner wall of the mixing chamber.

[0115] Step S1224: controlling the powder sweeping workpiece to clean the powder on the first part of the surface of the hammer.

[0116] The surface of the pressure hammer includes a first surface portion and a second surface portion, the first surface portion is close to a first side surface of an inner wall of the mixing chamber, and the second surface portion is close to a second side surface of an inner wall of the mixing chamber.

[0117] See also Fig.19B , Fig.19B 2 is a second schematic diagram of a working scene of powder cleaning work for an internal mixer provided in an embodiment of the present application. Fig.19B As shown, in some embodiments, the roller brush 2221A is controlled to perform powder cleaning on the first part of the surface of the pressure hammer 13.

[0118] Optionally, in step S1224, the roller brush 2221A does not need to be replaced and the internal mixer 1 is controlled to operate. After step S1223 is completed, the roller brush 2221A is directly used to clean the powder on the first part of the surface of the hammer 13. In this way, the cleaning efficiency can be improved. The following steps are similar.

[0119] Step S1225: Control the powder sweeping workpiece to clean the powder on the second side surface of the inner wall of the mixing chamber.

[0120] See also Fig.19C , Fig.19C 1 is a third schematic diagram of a working scene of performing powder cleaning work on an internal mixer provided in an embodiment of the present application. Fig.19C As shown, in some embodiments, the roller brush 2221A is controlled to clean the powder on the second side surface A2 of the inner wall of the mixing chamber.

[0121] Step S1226: Control the powder sweeping workpiece to clean the powder on the second part of the surface of the hammer.

[0122] See also Fig.19D , Fig.19D 4 is a fourth schematic diagram of a working scene of powder cleaning work for an internal mixer provided in an embodiment of the present application. Fig.19D As shown, in some embodiments, the roller brush 2221A is controlled to perform powder cleaning on the second part of the surface of the hammer 13 .

[0123] In step S1223 to step S1226, the pressure hammer is always in a falling state.

[0124] Step S1227: Send a fifth control instruction to the internal mixer to raise the hammer of the internal mixer.

[0125] In some embodiments, when the pressure hammer of the internal mixer is in a raised state, the first side surface, the second side surface, and the third side surface of the inner wall of the internal mixer are not blocked by the pressure hammer.

[0126] Step S1228: Control the powder sweeping workpiece to clean the powder on the first side, the second side and the third side of the inner wall of the mixing chamber.

[0127] See also Fig.19E , Fig.19E 1 is a fifth schematic diagram of a working scene of powder cleaning work for an internal mixer provided in an embodiment of the present application. Fig.19E As shown, in some embodiments, the scraper 2222 is controlled to clean the powder on the third side surface A3 of the inner wall of the mixing chamber.

[0128] In some embodiments, the scraper is controlled to clean the powder from the first side, the second side, and the third side of the inner wall of the mixing chamber. Because the powder may be firmly attached to the inner wall surface of the mixing chamber, the scraper 2222 with greater hardness is selected to clean the powder from the first side A1, the second side A2, and the third side A3 of the inner wall of the mixing chamber. In this way, the powder attached to the inner wall surface of the mixing chamber can be completely cleaned.

[0129] In some embodiments, the powder sweeping workpiece includes a brush, a scraper, a friction cloth, a friction block, a powder blowing component, a powder suction component, etc. The brush may include a roller brush and a plate brush, etc.

[0130] In some embodiments, the powder blowing component or the powder suction component can be independently controlled to perform powder cleaning on the surface of any one or more of the cleaning objects.

[0131] Optionally, during the above-mentioned powder cleaning process, other powder sweeping components can be controlled to be used in combination with the powder blowing component and / or the powder suction component to perform powder cleaning on the surface of any one or several of the above-mentioned cleaning objects.

[0132] In some embodiments, when the powder sweeping robot controls the powder blowing component to perform powder cleaning on the surface of the cleaning object, the polymer powder is blown into the mixing chamber so that the flying polymer material powder continues to participate in the production process. In this way, the powder cleaning efficiency can be improved.

[0133] In some embodiments, when the powder sweeping robot controls the powder suction component to perform powder cleaning on the surface of the cleaning object, the powder sweeping robot also includes a powder suction container. After completing the powder cleaning of the internal mixer, when the pressure hammer is in the raised state, the powder sweeping robot pours all the powder collected by the powder suction container during this powder cleaning process into the internal mixer, so that the flying polymer material powder continues to participate in the production process. For the specific structure of the powder suction container, refer to Fig.15 and Fig.16 Description.

[0134] In some implementations, before step S122, step S120 further includes: determining a cleaning mode corresponding to the internal mixer based on the state information of the internal mixer.

[0135] In some implementations, the cleaning mode includes a full cleaning mode and a partial cleaning mode.

[0136] In some implementations, each cleaning mode corresponds to a set of cleaning parameters.

[0137] In some embodiments, the cleaning parameter set includes a plurality of preset cleaning objects, a cleaning order corresponding to each cleaning object and all powder-sweeping workpieces, and parameters such as a cleaning time, a cleaning force and a cleaning speed corresponding to each powder-sweeping workpiece.

[0138] In some embodiments, the cleaning objects in the mixing chamber include the inner wall of the mixing chamber and the pressure hammer.

[0139] Optionally, the cleaning object also includes a hammer connecting rod.

[0140] Optionally, when the powder sweeping workpiece is a brush, a scraper, a friction cloth or a friction block, the cleaning force includes a pressure value between the powder sweeping workpiece and the surface of the cleaning object.

[0141] In some embodiments, the powder sweeping robot further includes a pressure sensor, which is used to detect the pressure value between the powder sweeping workpiece and the robot arm. It is understandable that after the pressure generated by the surface of the cleaning object on the powder sweeping workpiece, the powder sweeping workpiece will generate pressure on the robot arm. According to Newton's third law, the pressure value between the powder sweeping workpiece and the surface of the cleaning object is equal to the pressure value between the powder sweeping workpiece and the robot arm. Optionally, the powder sweeping robot adjusts the movement of the robot arm according to the pressure value detected by the pressure sensor to adjust the pressure value between the powder sweeping workpiece and the surface of the cleaning object.

[0142] Optionally, when the powder sweeping workpiece is a powder suction component or a powder blowing component, the cleaning force also includes an airflow intensity value. The powder sweeping robot can control the airflow intensity value of the second air pump.

[0143] In some embodiments, the powder sweeping robot can control the powder sweeping workpiece to vibrate on the surface of the cleaning object. At this time, the cleaning force also includes a vibration frequency value.

[0144] Optionally, when a parameter setting instruction from a user is received, corresponding cleaning parameters are set according to the parameter setting instruction.

[0145] In some embodiments, the first state information further includes a work sequence number corresponding to the current work state. The work sequence number is the number of the work sequence of the current work state in a single work process of the internal mixer. For example, in a single work process of the internal mixer, the internal mixer switches four work states in sequence, the work sequence number of the first work state is 1, the work sequence number of the second work state is 2, the work sequence number of the third work state is 3, the work sequence number of the fourth work state is 4, and so on.

[0146] It is understandable that when the working temperature of the internal mixer is low, the melting degree of the polymer material powder is not high, and the powder is easy to fly. When the working temperature of the internal mixer is high, the melting degree of the polymer material powder is high, and the powder is less likely to fly. In a single working process of the internal mixer, the preset working temperature in each working state increases successively. Therefore, the cleaning mode corresponding to the internal mixer can be determined based on the working state of the internal mixer.

[0147] In some implementations, when the working sequence number corresponding to the current working state in the state information of the internal mixer is less than a preset number value, the cleaning mode corresponding to the internal mixer is determined as the complete cleaning mode.

[0148] Optionally, the preset number value is not greater than the end number value. The end number value refers to the working sequence number corresponding to the last working state in a single working process of the internal mixer.

[0149] Optionally, when the work sequence number corresponding to the current working state is less than the preset number value, it means that the current working temperature of the internal mixer is low, the melting degree of the polymer material powder is not high, and the powder is easy to fly, so the cleaning mode corresponding to the internal mixer is determined as the complete cleaning mode.

[0150] In some embodiments, the full cleaning mode further includes a full deep cleaning mode and a full standard cleaning mode. The cleaning time of the full deep cleaning mode is longer than the cleaning time of the full standard cleaning mode, and / or the cleaning intensity is greater than the cleaning intensity of the full standard cleaning mode.

[0151] Furthermore, when the working sequence number corresponding to the current working state of the internal mixer is less than the preset number value, when the current working temperature of the internal mixer is lower than the preset temperature value, the cleaning mode corresponding to the internal mixer is determined as the complete deep cleaning mode, otherwise the cleaning mode corresponding to the internal mixer is determined as the complete standard cleaning mode.

[0152] The preset temperature value is not necessarily the preset working temperature of the internal mixer.

[0153] Optionally, when the work sequence number corresponding to the current working state is less than the preset number value, and the current working temperature is lower than the preset temperature value, it can be further explained that the current working temperature of the internal mixer is low, the melting degree of the polymer material powder is not high, and the powder is very easy to fly, so the cleaning mode corresponding to the internal mixer is determined as the complete deep cleaning mode. When the work sequence number corresponding to the current working state is less than the preset number value, and the current working temperature is not lower than the preset temperature value, it means that although the current working temperature of the internal mixer is low, it is not so low that the powder is very easy to fly, so the cleaning mode corresponding to the internal mixer is determined as the complete standard cleaning mode.

[0154] Optionally, the complete cleaning mode also includes complete cleaning modes corresponding to other cleaning levels.

[0155] In some implementations, when the working sequence number corresponding to the current working state in the state information of the internal mixer is not less than a preset number value, the cleaning mode corresponding to the internal mixer is determined as the partial cleaning mode.

[0156] Optionally, when the work sequence number corresponding to the current working state is not less than the preset number value, it means that the current working temperature of the internal mixer is high, the melting degree of the polymer material powder is high, and the powder is not easy to fly, so the cleaning mode corresponding to the internal mixer is determined as a partial cleaning mode.

[0157] In some embodiments, the partial cleaning mode further includes a partial deep cleaning mode and a partial standard cleaning mode. The cleaning time of the partial deep cleaning mode is longer than the cleaning time of the partial standard cleaning mode, and / or the cleaning intensity is greater than the cleaning intensity of the partial standard cleaning mode.

[0158] Furthermore, when the working sequence number corresponding to the current working state of the internal mixer is not less than the preset number value, when the current working temperature of the internal mixer is lower than the preset temperature value, the cleaning mode corresponding to the internal mixer is determined as a partial deep cleaning mode, otherwise the cleaning mode corresponding to the internal mixer is determined as a partial standard cleaning mode.

[0159] Optionally, when the work sequence number corresponding to the current working state is not less than the preset number value, and the current working temperature is lower than the preset temperature value, it means that the current working temperature of the internal mixer is relatively high, but not so high that the powder rarely flies, so the cleaning mode corresponding to the internal mixer is determined as the partial deep cleaning mode. Optionally, when the work sequence number corresponding to the current working state is not less than the preset number value, and the current working temperature is not lower than the preset temperature value, it means that the current working temperature of the internal mixer is relatively high, and is high enough that the powder rarely flies, so the cleaning mode corresponding to the internal mixer is determined as the partial standard cleaning mode.

[0160] Optionally, the partial cleaning mode also includes partial cleaning modes corresponding to other cleaning degrees.

[0161] By determining the cleaning mode corresponding to the internal mixer based on the state information of the internal mixer, the cleaning mode can be flexibly determined according to the actual powder flying situation of the internal mixer, thereby minimizing the cleaning time while ensuring the powder cleaning effect.

[0162] In some embodiments, when executing step S122, when the cleaning mode corresponding to the internal mixer is determined, the cleaning mode corresponding to the internal mixer is used to perform powder cleaning on the internal mixer chamber of the internal mixer.

[0163] In some embodiments, the cleaning objects in the mixing chamber of the internal mixer and at least one powder sweeping workpiece corresponding to each cleaning object are determined based on the cleaning mode corresponding to the internal mixer; then the target powder sweeping robot corresponding to the internal mixer is controlled to select at least one powder sweeping workpiece corresponding to each cleaning object and perform powder cleaning on the surface of the cleaning object in the mixing chamber according to the cleaning process in the cleaning mode corresponding to the internal mixer using corresponding cleaning parameters.

[0164] In some embodiments, when the cleaning mode corresponding to the internal mixer is the complete cleaning mode, it is determined that the cleaning objects in the internal mixer chamber include the hammer connecting rod, the internal wall of the internal mixer chamber, and the hammer, and then the target powder sweeping robot corresponding to the internal mixer is controlled to sequentially execute steps S1221, S1222, S1223, S1224, S1225, S1226, and S1227. In each step, the cleaning parameters corresponding to the complete cleaning mode are used to perform powder cleaning on the surface of the cleaning object.

[0165] Optionally, when the cleaning mode corresponding to the internal mixer is the complete deep cleaning mode or the complete standard cleaning mode, in each step, the cleaning parameter set corresponding to the complete deep cleaning mode or the complete partial cleaning mode is used to perform powder cleaning on the surface of the cleaning object.

[0166] As described above, in some embodiments, the cleaning parameter set includes a plurality of preset cleaning objects, a cleaning order corresponding to each cleaning object and all powder-sweeping workpieces, and parameters such as the cleaning time, cleaning force and cleaning speed corresponding to each powder-sweeping workpiece.

[0167] Optionally, when a parameter setting instruction from a user is received, corresponding cleaning parameters are set according to the parameter setting instruction.

[0168] In some embodiments, parameters such as cleaning time, cleaning intensity, and cleaning speed corresponding to each powder sweeping workpiece corresponding to the complete deep cleaning mode and the complete standard cleaning mode are all within the numerical range of the parameters corresponding to the complete cleaning mode.

[0169] Optionally, the cleaning intensity value corresponding to the complete deep cleaning mode is greater than the cleaning intensity value corresponding to the complete standard cleaning mode, and / or the cleaning time value corresponding to the complete deep cleaning mode is greater than the cleaning time value corresponding to the complete standard cleaning mode.

[0170] In some embodiments, when the cleaning mode corresponding to the internal mixer is the partial cleaning mode, it is determined that the cleaning objects in the internal mixer chamber include the internal wall of the internal mixer chamber and the pressure hammer, and then the target powder sweeping robot corresponding to the internal mixer is controlled to sequentially execute step S1221, step S1223, step S1224, step S1225, step S1226 and step S1227. In each step, the cleaning parameters corresponding to the partial cleaning mode are used to perform powder cleaning on the surface of the cleaning object.

[0171] Optionally, when the cleaning mode corresponding to the internal mixer is a partial deep cleaning mode or a partial standard cleaning mode, a cleaning parameter set corresponding to the partial deep cleaning mode or the partial standard cleaning mode is used in each step to perform powder cleaning on the surface of the cleaning object.

[0172] In some embodiments, parameters such as cleaning time, cleaning intensity, and cleaning speed corresponding to each powder sweeping workpiece corresponding to the partial deep cleaning mode and the partial standard cleaning mode are all within the numerical range of the parameters corresponding to the partial cleaning mode.

[0173] Optionally, the cleaning intensity value corresponding to the partial deep cleaning mode is greater than the cleaning intensity value corresponding to the partial standard cleaning mode, and / or the cleaning time value corresponding to the partial deep cleaning mode is greater than the cleaning time value corresponding to the partial standard cleaning mode.

[0174] In some embodiments, different internal mixers may process different types of polymer powders. Optionally, the first state information also includes information on the type of polymer powder currently processed by the internal mixer.

[0175] In some embodiments, step S120 further includes: controlling a first target powder sweeping robot corresponding to the first target internal mixer to perform a target operation during the powder cleaning process according to information on the type of polymer powder currently processed by the first internal mixer.

[0176] In some embodiments, when the polymer powder is judged to be flammable and explosive powder according to the type information of the polymer powder currently processed by the first target internal mixer, the first target powder sweeping robot is controlled to use the second powder detection device to obtain the powder concentration in the air in the internal mixer chamber of the internal mixer before starting the powder cleaning work, and obtain the current operating temperature of the first target internal mixer. When the powder concentration is lower than the safe working concentration threshold, and the current operating temperature of the first target internal mixer is lower than the safe working temperature, the first target powder sweeping robot is controlled to start the powder cleaning work, otherwise the first target powder sweeping robot is controlled to enter a waiting state. If sufficient dust concentration and temperature are reached during the cleaning process, a dust explosion may occur. In this way, the first target powder sweeping robot can be controlled to start the powder cleaning work when the working environment is relatively safe, thereby reducing the risk of production accidents.

[0177] Optionally, when the first target powder sweeping robot enters the waiting state, the first target powder sweeping robot is controlled to detect the powder concentration in the air in the mixing chamber of the internal mixer every second preset time and obtain the current working temperature of the first target internal mixer. When the powder concentration is lower than the safe working concentration threshold and the current working temperature of the first target internal mixer is lower than the safe working temperature, the first target powder sweeping robot is controlled to start the powder cleaning work.

[0178] In some embodiments, when the polymer powder currently processed by the first target internal mixer is judged to be a powder that is prone to static electricity, the first target powder sweeping robot is controlled to use a powder suction component and one of a brush, a scraper, a friction cloth and a friction block to perform powder cleaning work. In a dry environment, static electricity may attract powder back to the surface of the cleaning object, resulting in incomplete cleaning and potential safety hazards. In this way, the powder can be sucked into the powder suction container, thereby improving cleaning efficiency and reducing the risk of production accidents.

[0179] In some embodiments, when the polymer powder is determined to be sticky powder according to the type information of the polymer powder currently processed by the first target internal mixer, the first target powder sweeping robot is controlled to use one of a scraper, a friction cloth and a friction block to perform powder cleaning work when performing powder cleaning work. Sticky powder is easy to adhere to the surface of the cleaning object, and it may be difficult to clean it completely if a powder suction component, a powder suction component or a brush is used. In this way, a powder sweeping workpiece with greater hardness can be used for powder cleaning work, which is conducive to thoroughly cleaning sticky powder.

[0180] In some embodiments, when the polymer powder currently processed by the first target internal mixer is judged to be corrosive powder according to the type information of the polymer powder, the first target powder sweeping robot is controlled to use a powder sweeping workpiece made of anti-corrosion material to perform powder cleaning work. In this way, it is possible to avoid using an ordinary powder sweeping workpiece made of non-corrosion-resistant material to clean the corrosive powder, and the working life of the ordinary powder sweeping workpiece can be extended.

[0181] Step S123: Determine whether the powder cleaning work is completed.

[0182] In some embodiments, step S123 includes: when the duration of the powder cleaning work is greater than a first preset time, determining that the powder cleaning work is completed; otherwise, determining that the powder cleaning work is not completed and continuing the powder cleaning work.

[0183] Optionally, the first preset time ranges from 5 seconds to 15 seconds. For example, the first preset time is 5 seconds, 10 seconds or 15 seconds.

[0184] In some embodiments, step S123 includes steps S1231 to S1234.

[0185] Step S1231: Acquire a first image of the internal mixing chamber of the internal mixer.

[0186] In some embodiments, the powder sweeping robot is controlled to use a two-dimensional camera to photograph the mixing chamber of the internal mixer to obtain a first image.

[0187] In some embodiments, during the powder cleaning process, a plurality of first images of the internal mixer are acquired in real time.

[0188] Optionally, during the powder cleaning process, a first image of the internal mixer is acquired at a preset time interval.

[0189] Optionally, during the powder cleaning process, a video of the internal mixer is obtained in real time.

[0190] Step S1232: Identify a first powder-covered area in the first image.

[0191] In some embodiments, the first status information further includes color information of the polymer powder currently being processed by the internal mixer.

[0192] In some embodiments, an edge detection algorithm is used to identify edges in the first image, thereby identifying at least one characteristic region in the first image, and then determining whether each characteristic region is a first powder coverage region based on color information of the polymer powder currently processed by the internal mixer.

[0193] Step S1233: Calculate the area of ​​the first powder covered region, and / or calculate the powder thickness of the first powder covered region based on the pixel value of the first powder covered region.

[0194] In some embodiments, a larger pixel value of the first powder covered area indicates a darker color of the first powder covered area, which means a greater powder thickness of the first powder covered area.

[0195] In some embodiments, calculating the powder thickness of the first powder covered area based on the pixel values ​​of the first powder covered area includes steps (1233.1) to (1233.3).

[0196] (1233.1) Obtain a curve graph showing the corresponding relationship between pixel value and powder thickness.

[0197] In some embodiments, multiple images of the first powder coverage area with multiple known powder thicknesses are taken in advance, and a corresponding relationship curve graph of pixel values ​​and powder thickness is obtained based on the pixel values ​​of the first powder coverage area in the multiple images and the corresponding known powder thickness. In this way, even if the corresponding relationship between pixel values ​​and powder thickness is not a linear relationship, the corresponding powder thickness can be accurately calculated based on the pixel values.

[0198] (1233.2) Calculate the powder thickness corresponding to each pixel point based on the pixel value of each pixel point in the first powder coverage area and the corresponding relationship curve between the pixel value and the powder thickness.

[0199] In some embodiments, in a graph of the corresponding relationship between pixel value and powder thickness, the powder thickness corresponding to the pixel value of each pixel point is determined according to the pixel value of each pixel point.

[0200] (1233.3) Calculate the powder thickness of the first powder coverage area based on the powder thickness corresponding to each pixel point in the first powder coverage area.

[0201] In some embodiments, the powder thickness of the first powder covered region is an average powder thickness of the first powder covered region.

[0202] Optionally, the powder thickness corresponding to each pixel in the first powder coverage area is added up, and then divided by the total number of all pixel points in the first powder coverage area to obtain an average powder thickness of the first powder coverage area.

[0203] In some embodiments, the powder thickness of the first powder coverage area includes the powder thickness corresponding to each pixel in the first powder coverage area.

[0204] Step S1234: When the area of ​​the first powder coverage area is greater than the first preset area, and / or the powder thickness of the first powder coverage area is greater than the first preset thickness, the powder cleaning work is judged to be completed, otherwise the powder cleaning work is judged to be incomplete and the powder cleaning work is continued.

[0205] In some embodiments, when the area of ​​the first powder coverage region is greater than the first preset area, it is determined that the powder cleaning work is completed, otherwise it is determined that the powder cleaning work is not completed and the powder cleaning work is continued.

[0206] In some embodiments, when the powder thickness of the first powder coverage area is greater than the first preset thickness, it is determined that the powder cleaning work is completed, otherwise it is determined that the powder cleaning work is not completed and the powder cleaning work is continued.

[0207] In some embodiments, when the area of ​​the first powder coverage area is greater than the first preset area, and the powder thickness of the first powder coverage area is greater than the first preset thickness, the powder cleaning work is judged to be completed, otherwise the powder cleaning work is judged to be incomplete and the powder cleaning work is continued.

[0208] In some embodiments, step S123 includes steps S1236 to S1237.

[0209] Step S1236: When performing the powder cleaning operation, obtain the powder concentration in the air in the internal mixing chamber of the internal mixer.

[0210] In some embodiments, the powder sweeping robot further comprises a first powder detection device. When performing the powder cleaning operation, the first powder detection device is used to obtain the powder concentration in the air in the mixing chamber of the internal mixer.

[0211] In some embodiments, the internal mixer further comprises a second powder detection device. When performing powder cleaning, the second powder detection device is used to obtain the powder concentration in the air in the internal mixer chamber.

[0212] Step S1237: When the powder concentration is lower than the preset concentration, the powder cleaning work is judged to be completed, otherwise the powder cleaning work is judged to be incomplete and the powder cleaning work is continued.

[0213] In some embodiments, when the powder concentration is lower than a preset concentration, it indicates that less powder is blown into the air during the powder cleaning process, which can further indicate that the powder on the surface of the cleaning object has been basically cleaned.

[0214] Step S124: When it is determined that the powder cleaning work is completed, a sixth control instruction is sent to the internal mixer to make the internal mixer close the feed door and continue to work.

[0215] In some embodiments, when the operator determines that the powder cleaning work is completed according to the first state information and the second state information, a second control instruction is sent to control the second target powder sweeping robot corresponding to the second control instruction to stop the powder cleaning work, and control the corresponding second target internal mixer to close the feed door and continue working. At this time, step S100 also includes step S130.

[0216] Step S130: When the second control instruction is received, the second target powder sweeping robot corresponding to the second control instruction is controlled to stop the powder cleaning work, and the corresponding second target internal mixer is controlled to close the feeding door and continue to work.

[0217] In some embodiments, the first target powder sweeping robot and the second target powder sweeping robot are the same powder sweeping robot, and the first target internal mixer and the second target internal mixer are the same internal mixer.

[0218] In some embodiments, step S120 or step S130 may be performed separately, the first target powder sweeping robot and the second target powder sweeping robot may not be the same powder sweeping robot, and the first target internal mixer and the second target internal mixer may not be the same internal mixer.

[0219] Step S200: when the powder sweeping robot performs powder cleaning work on the internal mixer, first state information of at least one internal mixer and second state information of at least one powder sweeping robot are obtained and recorded.

[0220] The first status information is used to indicate the working status of the internal mixer, and the second status information is used to indicate the working status of the powder sweeping robot.

[0221] By obtaining and recording the first state information of at least one internal mixer and the second state information of at least one powder sweeping robot when the powder sweeping robot performs powder cleaning work on the internal mixer, relevant information of the powder cleaning work process can be recorded, which is convenient for operators to troubleshoot according to the first state information and the second state information, thereby ensuring the normal progress of the powder cleaning work.

[0222] In some embodiments, during a single operation of the internal mixer, the internal mixer switches between multiple working states in sequence.

[0223] In some embodiments, each working state of the internal mixer corresponds to a preset working temperature. In each working state, the internal mixer processes the polymer powder to the corresponding preset working temperature.

[0224] In some embodiments, during a single operation of the internal mixer, the preset working temperature in each working state is increased sequentially. For example, during a single operation of the internal mixer, the internal mixer switches four working states sequentially, the preset working temperature of the first working state is 95 degrees, the preset working temperature of the second working state is 120 degrees, the preset working temperature of the third working state is 140 degrees, and the preset working temperature of the fourth working state is 155 degrees. The internal mixer processes the polymer powder to 95 degrees in the first working state, the polymer powder to 120 degrees in the second working state, the polymer powder to 140 degrees in the third working state, and the polymer powder to 155 degrees in the fourth working state. In this way, the internal mixer can gradually melt the polymer material powder.

[0225] In some implementations, the first status information includes the current operating temperature and current operating status of the internal mixer.

[0226] Optionally, the current working state of the internal mixer may be a working state in the workflow, such as a fault state or a cleaning state.

[0227] In some embodiments, the first state information further includes first position information of the internal mixer.

[0228] In some embodiments, the working state of the powder sweeping robot includes a working state, an idle state, a fault state, a charging state, etc.

[0229] In some embodiments, the method further includes step S300: displaying the working status of each internal mixer according to the first status information of each internal mixer.

[0230] In some embodiments, each working state of the internal mixer corresponds to a first state icon, and the first state icon corresponding to the working state of each internal mixer is displayed.

[0231] In some embodiments, the first state information includes the current working temperature of the internal mixer and the working time of the current working state.

[0232] In some implementations, there are multiple first state information, and the acquisition time of the multiple first state information is different.

[0233] In some embodiments, step S300 includes: generating and displaying a first statistical graph representing the corresponding relationship between the working temperature and time of each internal mixer according to all the first state information of each internal mixer.

[0234] Optionally, the first statistical chart is a line chart, a histogram or a table.

[0235] Optionally, the corresponding relationship between the working temperature and time of the internal mixer is dynamically displayed in the first statistical graph.

[0236] In some embodiments, the first state information includes the current working temperature of the internal mixer, the working time of the current working state, and the thickness of powder attached to the surface of the cleaning object in the internal mixer chamber.

[0237] In some embodiments, step S300 includes: generating and displaying a second statistical graph representing the corresponding relationship between the working temperature of the internal mixer, the powder thickness and the time according to all the first state information of each internal mixer.

[0238] Optionally, the second statistical graph is a line graph, a histogram or a table.

[0239] Optionally, the corresponding relationship between the working temperature of the internal mixer, the powder thickness and the time is dynamically displayed in the second statistical graph.

[0240] By displaying the working status of each internal mixer according to the first status information of each internal mixer, it is convenient for operators to monitor the working status of the internal mixer in real time to ensure the normal operation of all internal mixers and to troubleshoot the internal mixers.

[0241] In some embodiments, the method further includes step S400: displaying the working status of each powder sweeping robot according to the second status information of each powder sweeping robot.

[0242] In some embodiments, each working state of the powder sweeping robot corresponds to a second state icon, and the second state icon corresponding to the working state of each powder sweeping robot is displayed.

[0243] By displaying the working status of each powder sweeping robot according to the second status information of each powder sweeping robot, it is convenient for the operator to monitor the working status of the powder sweeping robot in real time to ensure the normal operation of all powder sweeping robots, and it is also convenient for the operator to troubleshoot the powder sweeping robots.

[0244] In some embodiments, the first state information includes first position information of the internal mixer, and the second state information includes second position information and working state information of the powder sweeping robot.

[0245] In some implementations, step S400 includes steps S410 to S420.

[0246] Step S410: Displaying whether the powder sweeping robot is performing powder cleaning work on the internal mixer according to the working status information of each powder sweeping robot.

[0247] In some embodiments, when the working status information indicates that the working status of the powder sweeping robot is in the working state, it is displayed that the powder sweeping robot is performing powder cleaning work on the internal mixer. When the working status information indicates that the working status of the powder sweeping robot is in the idle state, it is displayed that the powder sweeping robot is not performing powder cleaning work on the internal mixer.

[0248] Step S420: When the powder sweeping robot is performing powder cleaning work on the internal mixer, the working time of the current working state of the powder sweeping robot and / or the remaining time of the current working state are displayed according to the working status information of the powder sweeping robot, and the current position of the powder sweeping robot and the corresponding current position of the internal mixer are displayed according to the second position information of the powder sweeping robot and the first position information of the corresponding internal mixer.

[0249] In some embodiments, a map showing all internal mixers and powder sweeping robots is generated based on the first position information and the second position information, and the current position of the powder sweeping robot and the current position of the corresponding internal mixer are displayed in the map.

[0250] Optionally, the working time of the current working state of the powder sweeping robot and / or the remaining time of the current working state are displayed on the map. The working time of the current working state of the powder sweeping robot also refers to the duration of the current working state of the powder sweeping robot.

[0251] In some embodiments, a countdown is used to display the remaining time of the current working state of the powder sweeping robot.

[0252] By displaying the working status of each powder sweeping robot according to the second status information of each powder sweeping robot, it is convenient for the operator to monitor the working status of the powder sweeping robot in real time to ensure the normal operation of all powder sweeping robots, and it is also convenient for the operator to troubleshoot.

[0253] In some embodiments, the method further includes step S500: whenever it is determined according to the second state information that the powder sweeping robot is performing powder cleaning work on the internal mixer, a first image taken by the powder sweeping robot of the mixing chamber of the internal mixer is acquired and displayed in real time.

[0254] By acquiring and displaying in real time the first image captured by the powder sweeping robot on the mixing chamber of the internal mixer, the operator can monitor the powder cleaning process in real time to ensure the normal execution of the powder cleaning process.

[0255] In some embodiments, the powder sweeping robot is controlled to use a two-dimensional camera to photograph the mixing chamber of the internal mixer to obtain a first image.

[0256] In some embodiments, during the powder cleaning process, a plurality of first images of the internal mixer are acquired and displayed in real time.

[0257] Optionally, during the powder cleaning process, a first image of the internal mixer is acquired at a preset time interval.

[0258] Optionally, during the powder cleaning process, a video of the internal mixer is acquired and displayed in real time.

[0259] In some embodiments, the internal mixer or the target powder sweeping robot may fail before the powder cleaning work begins, resulting in the cleaning task not being performed normally. Therefore, before starting the powder cleaning work on the internal mixer's mixing chamber, it is necessary to ensure that the internal mixer and the corresponding target powder sweeping robot can work normally.

[0260] In some embodiments, the method further includes steps S600 to S700.

[0261] Step S600: judging whether the internal mixer is in a normal working state based on the first state information of each internal mixer.

[0262] As described above, the first state information includes the current operating temperature and current operating state of the internal mixer.

[0263] In some embodiments, the first state information in the mixing chamber of the mixer is obtained again, and it is determined whether the mixer is in a normal working state based on the first state information currently obtained. Because the mixer may need to wait for the corresponding powder sweeping robot to sweep powder for it, and the mixer may fail during the waiting process, and the time when the first state information was first obtained has been a period of time, so it is outdated, so it is necessary to obtain the first state information in the mixing chamber of the mixer again.

[0264] In some implementations, when the current working state is a fault state, it is determined that the internal mixer is not in a normal working state.

[0265] In some embodiments, the internal mixer may not actively report an error when a fault occurs, but will still determine the current working state as a normal working state. However, the current working temperature of the internal mixer will be higher than the warning temperature.

[0266] In some implementations, when the current operating temperature is higher than the warning temperature, it is determined that the internal mixer is not in a normal working state.

[0267] In some implementations, when the current working temperature is not higher than the warning temperature and the current working state is not a fault state, it is determined that the internal mixer is in a normal working state.

[0268] Step S700: when it is determined that the internal mixer is not in a normal working state, the powder sweeping robot corresponding to the internal mixer is controlled to cancel the cleaning task corresponding to the internal mixer.

[0269] In some embodiments, when the internal mixer is not in a normal working state, a cancel task instruction is sent to the powder sweeping robot corresponding to the internal mixer to cancel the cleaning task corresponding to the internal mixer. In this way, the powder sweeping robot can perform other cleaning tasks without wasting time.

[0270] In some embodiments, when the internal mixer is not in a normal working state, a corresponding alarm signal is also issued to prompt the operator to troubleshoot the fault of the internal mixer.

[0271] In some embodiments, the method further includes steps S800 to S900.

[0272] Step S800: Based on the second state information of the powder sweeping robot corresponding to each internal mixer, determine whether the powder sweeping robot is in a normal working state.

[0273] As described above, in some embodiments, the second state information includes the second position information and working state information of the powder sweeping robot.

[0274] Optionally, the working status of the powder sweeping robot includes a working status, an idle status, a fault status, a charging status, etc.

[0275] In some embodiments, when it is determined that the powder sweeping robot is in a fault state based on the working status information, it is determined that the powder sweeping robot is not in a normal working state.

[0276] In some embodiments, the powder sweeping robot may not actively report an error when a fault occurs, and will still determine the current working state as a normal working state. However, at this time, the powder sweeping robot will not move and will not be in a charging state.

[0277] In some embodiments, when it is determined based on the second state information that the powder sweeping robot corresponding to the internal mixer does not move for a first preset time and is not in a charging state, it is determined that the powder sweeping robot is not in a normal working state.

[0278] In some embodiments, when it is determined based on the working status information that the powder sweeping robot is not in a faulty state, and does not move for a first preset time when not in a charging state, it is determined that the powder sweeping robot is in a normal working state.

[0279] Step S900: When it is determined that the powder sweeping robot is not in a normal working state, a powder sweeping robot is selected from other powder sweeping robots in a normal working state according to a preset rule as the powder sweeping robot corresponding to the internal mixer.

[0280] Among them, the powder sweeping robot corresponding to the internal mixer is used to clean the powder in the internal mixer's mixing chamber.

[0281] In some embodiments, when the powder sweeping robot is not in a normal working state, a corresponding alarm signal is also issued to prompt the operator to troubleshoot the powder sweeping robot.

[0282] By means of the above method, when a cleaning task cannot be normally performed, the cleaning task can be cancelled in time, so that the internal mixer can be cleaned of powder in time.

[0283] As described above, in some embodiments, the first state information also includes first position information of the internal mixer, and the second state information also includes second position information of the powder sweeping robot.

[0284] In some implementations, step S900 includes steps S910 to S930.

[0285] Step S910: When it is determined that the powder sweeping robot is not in a normal working state, a cleaning time period of the internal mixer is determined based on the first state information of the internal mixer.

[0286] In some embodiments, the cleaning start time of the internal mixer is determined based on the first state information of the internal mixer, and then the cleaning time period of the internal mixer is determined based on the cleaning start time of the internal mixer and a preset first preset time. The first preset time is a preset duration of the powder cleaning work.

[0287] Optionally, the starting time point of the cleaning time period of the internal mixer is the cleaning start time of the internal mixer, and the duration is the first preset time.

[0288] Optionally, the first preset time ranges from 5 seconds to 15 seconds. For example, the first preset time is 5 seconds, 10 seconds or 15 seconds.

[0289] As described above, in some embodiments, during a single operation of the internal mixer, the internal mixer switches between multiple operating states in sequence.

[0290] In some embodiments, the end time of each working state except the last working state of the internal mixer is the cleaning start time of the internal mixer.

[0291] In some embodiments, when the current operating temperature in the first state information reaches the preset operating temperature, the cleaning start time of the internal mixer is the current time.

[0292] When the current working temperature of the internal mixer reaches the preset working temperature corresponding to the current working state, it means that the internal mixer should enter the next working state. At this time, it is determined to perform powder cleaning work on the internal mixer to allow the flying polymer material powder to continue to participate in the production process before the internal mixer enters the next working state, thereby improving the quality and output of the final product.

[0293] In some embodiments, the preset working temperature ranges from 50 degrees to 200 degrees. For example, the preset working temperature is 50 degrees, 85 degrees, 95 degrees, 100 degrees, 120 degrees, 140 degrees, 155 degrees or 200 degrees.

[0294] In some embodiments, the cleaning start time of the internal mixer is the time when the working time of the current working state reaches a preset time.

[0295] When the working time of the internal mixer reaches the preset time corresponding to the current working state, it means that the internal mixer should enter the next working state. At this time, it is determined to perform powder cleaning work on the internal mixer to allow the flying polymer material powder to continue to participate in the production process before the internal mixer enters the next working state, thereby improving the quality and output of the final product.

[0296] Step S920: determining all powder sweeping robots that are in an idle state during a cleaning time period of the internal mixer based on the second state information of all powder sweeping robots.

[0297] In some embodiments, each powder sweeping robot corresponds to a task list, and the powder sweeping robot is used to perform cleaning tasks in the task list. The cleaning task is a task of performing powder cleaning work on the target internal mixer corresponding to the powder sweeping robot.

[0298] In some embodiments, each cleaning task includes a preset cleaning time period, and the second status information also includes an expected working status of the powder sweeping robot at present and in the future.

[0299] In some embodiments, the working status of the powder sweeping robot at present and in the future is determined based on the second status information of the powder sweeping robot. When the powder sweeping robot is idle during the cleaning time period of the internal mixer, the powder sweeping robot is determined to be a powder sweeping robot that is idle during the cleaning time period of the internal mixer.

[0300] Step S930: Based on the first position information of the internal mixer and the second position information of all corresponding idle powder sweeping robots, a powder sweeping robot that is closest to the internal mixer is selected from all idle powder sweeping robots as the powder sweeping robot corresponding to the internal mixer.

[0301] In some embodiments, each internal mixer belongs to one operating area.

[0302] Optionally, the operation areas are divided according to production workshops, with one production workshop being one operation area.

[0303] Optionally, the operation areas are divided according to the types of polymer powders processed by the internal mixers, and all internal mixers processing the same type of polymer powder belong to the same operation area.

[0304] In some embodiments, each operating area has a priority order.

[0305] In some embodiments, step S930 includes steps S9301 to S9305.

[0306] Step S9301: Determine the operating area to which the internal mixer belongs based on the first position information of the internal mixer.

[0307] In some embodiments, each operating area has a preset location range, and when it is determined that the internal mixer is within the location range of an operating area based on the first location information of the internal mixer, it is determined that the internal mixer belongs to the operating area.

[0308] Step S9302: Determine the working area to which each powder sweeping robot belongs based on the second position information of each idle powder sweeping robot corresponding to each internal mixer.

[0309] In some embodiments, one internal mixer corresponds to at least one powder sweeping robot that is idle during a cleaning period of the internal mixer.

[0310] In some embodiments, when it is determined that the powder sweeping robot is within the position range of an operating area based on the second position information, it is determined that the powder sweeping robot belongs to the operating area.

[0311] Step S9303: When there is a powder sweeping robot belonging to the same operating area as the internal mixer among all the powder sweeping robots in the idle state, all the powder sweeping robots belonging to the same operating area as the internal mixer are determined as the third device.

[0312] The third device is a powder sweeping robot which is idle during the cleaning period of the internal mixer and belongs to the same operating area as the internal mixer.

[0313] Step S9304: Based on the first position information of the internal mixer and the second position information of all third devices, a third device which is closest to the internal mixer is selected as the target powder sweeping robot corresponding to the internal mixer.

[0314] By preferentially selecting an idle powder sweeping robot in the same operating area as the internal mixer as the target powder sweeping robot corresponding to the internal mixer, the internal mixer and powder sweeping robot in each operating area can be independently paired and scheduled to avoid affecting the scheduling of other operating areas.

[0315] In some embodiments, among all the idle powder sweeping robots, there is no powder sweeping robot in the same operating area as the internal mixer. In this case, the powder sweeping robot in the operating area with a lower priority can be dispatched to clean the powder of the internal mixer first. In this way, the internal mixer can be cleaned in time as much as possible, while reducing the impact on other operating areas with higher priorities.

[0316] Step S9305: When there is no powder sweeping robot belonging to the same working area as the internal mixer among all the idle powder sweeping robots, a powder sweeping robot that is closest to the internal mixer is selected as the target powder sweeping robot corresponding to the internal mixer from among all the idle powder sweeping robots whose working areas have a lower priority than the working area to which the internal mixer belongs.

[0317] In some embodiments, a powder sweeping robot that is closest to the internal mixer is selected as the target powder sweeping robot corresponding to the internal mixer, so that the target powder sweeping robot can reach the internal mixer in the shortest time, thereby allowing the internal mixer to be cleaned in time.

[0318] In some embodiments, after step S900, the method further includes: controlling the target powder sweeping robot corresponding to each internal mixer to clean the powder in the internal mixer chamber. For details, refer to the description of step S100.

[0319] In summary, the control method provided by the embodiment of the present application has the following advantages:

[0320] 1. When a control instruction is received, the working state of the corresponding internal mixer and the powder sweeping robot is controlled according to the control instruction, so as to control the powder sweeping robot to perform powder cleaning work on the internal mixer. The powder sweeping robot can be controlled to perform powder cleaning on the internal mixer that needs to be cleaned, and there is no need for the operator to manually clean the powder on the internal mixer using tools, thereby greatly improving the efficiency of powder cleaning on the internal mixer and reducing production costs. In addition, when the powder sweeping robot performs powder cleaning work on the internal mixer, the first state information of at least one internal mixer and the second state information of at least one powder sweeping robot are obtained and recorded, and the relevant information of the powder cleaning work process can be recorded, so that the operator can perform troubleshooting according to the first state information and the second state information, thereby ensuring the normal progress of the powder cleaning work.

[0321] 2. By displaying the working status of each internal mixer according to the first status information of each internal mixer, it is convenient for operators to monitor the working status of the internal mixer in real time to ensure the normal operation of all internal mixers and to troubleshoot the internal mixers.

[0322] 3. By displaying the working status of each powder sweeping robot according to the second status information of each powder sweeping robot, it is convenient for the operator to monitor the working status of the powder sweeping robot in real time to ensure the normal operation of all powder sweeping robots, and it is also convenient for the operator to troubleshoot the powder sweeping robots.

[0323] 4. By acquiring and displaying the first image taken by the powder sweeping robot of the mixing chamber of the mixer in real time, the operator can monitor the powder cleaning process in real time to ensure the normal execution of the powder cleaning process.

[0324] See also Fig. 20 , Fig. 20 Schematic diagram of the structure of a powder sweeping robot provided in an embodiment of the present application. Fig. 20 As shown, the powder sweeping robot 400 includes: one or more processors 410 and a memory 420, Fig. 20 A processor 410 is taken as an example.

[0325] In some implementations, the processor 410 and the memory 420 may be connected via a bus or other means. Fig. 20 The example of connecting through bus is taken in the following.

[0326] In some embodiments, the processor 410 is used to obtain and record first state information of at least one internal mixer and second state information of at least one powder sweeping robot, where the first state information is used to indicate the working state of the internal mixer, and the second state information is used to indicate the working state of the powder sweeping robot, which is used to perform powder cleaning work on the mixing chamber of the internal mixer; when a control instruction is received, the working state of the corresponding internal mixer and / or powder sweeping robot is controlled according to the control instruction.

[0327] In some embodiments, the memory 420 is a non-volatile computer-readable storage medium that can be used to store non-volatile software programs, non-volatile computer executable programs and modules, such as program instructions / modules of the control method in the embodiment of the present application. The processor 410 executes various functional applications and data processing of the powder sweeping robot 400 by running the non-volatile software programs, instructions and modules stored in the memory 420, that is, implements the control method of the above method embodiment.

[0328] In some embodiments, the memory 420 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application required for at least one function; the data storage area may store data created according to the use of the powder sweeping robot 400, etc. In addition, the memory 420 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 420 may optionally include a memory remotely arranged relative to the processor 410, and these remote memories may be connected to the controller via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0329] In some embodiments, one or more modules are stored in the memory 420, and when executed by one or more processors 410, the control method in any of the above method embodiments is executed, for example, the control method described above is executed. Fig.17 The method comprises steps S100 to S200.

[0330] In some embodiments, the powder sweeping robot can be a chip, such as a data processor (Data Processing Unit, DPU) chip used in a data center, or the powder sweeping robot can also be a network interface card including a chip and multiple interfaces (such as PCI / PCIE interface, UART interface, USB interface, etc.), or the powder sweeping robot can also be a traditional server, or it can also be a server including a network interface card or a chip, the server includes a host and a data processor, the data processor is used to dispatch messages to the host or the data processor itself for processing, and the host is used to process messages dispatched by the data processor.

[0331] Please refer to Fig.21 , Fig.21 5 is a block diagram of a computer-readable storage medium provided in an embodiment of the present application. The computer-readable storage medium 500 stores a program code 510, which can be called by a processor to execute the control method described in the above method embodiment.

[0332] The computer readable storage medium 500 may be an electronic memory such as a flash memory, an EEPROM (electrically erasable programmable read-only memory), an EPROM, a hard disk, or a ROM. Optionally, the computer readable storage medium includes a non-transitory computer readable storage medium. The computer readable storage medium 500 has storage space for program codes that execute any method steps in the above control method. These program codes can be read from or written to one or more computer program products. The program code can be compressed, for example, in an appropriate form.

[0333] In some implementations, the embodiments of the present application further provide a computer program product, including a computer program, which implements the above-mentioned control method when executed by a processor.

[0334] In summary, the present application provides a control method, a powder sweeping robot, an internal mixer and a storage medium, the control method comprising: when a control instruction is received, the working state of the corresponding internal mixer and the powder sweeping robot is controlled according to the control instruction, so as to control the powder sweeping robot to perform powder cleaning work on the internal mixer; when the powder sweeping robot performs powder cleaning work on the internal mixer, the first state information of at least one internal mixer and the second state information of at least one powder sweeping robot are obtained and recorded, the first state information is used to indicate the working state of the internal mixer, the second state information is used to indicate the working state of the powder sweeping robot, and the powder sweeping robot is used to perform powder cleaning work on the internal mixer chamber of the internal mixer. When the present application receives a control instruction, the working state of the corresponding internal mixer and the powder sweeping robot is controlled according to the control instruction to control the powder sweeping robot to perform powder cleaning work on the internal mixer, so as to control the powder sweeping robot to perform powder cleaning work on the internal mixer, and the powder sweeping robot can be controlled to perform powder cleaning on the internal mixer that needs to be cleaned, without the need for the operator to manually clean the powder on the internal mixer using tools, thereby greatly improving the efficiency of powder cleaning on the internal mixer and reducing production costs. Furthermore, by acquiring and recording the first state information of at least one internal mixer and the second state information of at least one powder sweeping robot when the powder sweeping robot performs powder cleaning work on the internal mixer, it is possible to record relevant information of the powder cleaning work process, making it convenient for operators to perform troubleshooting based on the first state information and the second state information, thereby ensuring the normal progress of the powder cleaning work.

[0335] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A control method, characterized in that: The method comprises: When a control instruction is received, the working states of the corresponding internal mixer and the powder sweeping robot are controlled according to the control instruction, so as to control the powder sweeping robot to clean the powder of the internal mixer; When the powder sweeping robot performs powder cleaning work on the internal mixer, first status information of at least one internal mixer and second status information of at least one powder sweeping robot are obtained and recorded, wherein the first status information is used to indicate the working status of the internal mixer, and the second status information is used to indicate the working status of the powder sweeping robot.

2. The control method according to claim 1, characterized in that: The method further comprises: The working status of each internal mixer is displayed according to the first status information of each internal mixer.

3. The control method according to claim 2, characterized in that: The first state information includes the current working temperature of the internal mixer and the working time of the current working state. There are multiple first state information, and the acquisition time of the multiple first state information is different. The displaying the working state of each internal mixer according to the first state information of each internal mixer includes: A first statistical graph showing the corresponding relationship between the working temperature and time of each internal mixer is generated and displayed according to all the first state information of each internal mixer.

4. The control method according to claim 2, characterized in that: The first status information includes the current working temperature of the internal mixer, the working time of the current working state, and the thickness of the powder attached to the surface of the cleaning object in the internal mixer chamber of the internal mixer. The number of the first status information is multiple, and the acquisition time of the multiple first status information is different. The display of the working state of each internal mixer according to the first status information of each internal mixer includes: A second statistical graph showing the corresponding relationship between the working temperature, powder thickness and time of each internal mixer is generated and displayed according to all the first state information of each internal mixer.

5. The control method according to claim 1, characterized in that: The method further comprises: The working status of each of the powder sweeping robots is displayed according to the second status information of each of the powder sweeping robots.

6. The control method according to claim 5, characterized in that: The first status information includes the first position information of the internal mixer, the second status information includes the second position information and working status information of the powder sweeping robot, and the working status of each powder sweeping robot is displayed according to the second status information of each powder sweeping robot, including: Displaying, according to the working status information of each of the powder sweeping robots, whether the powder sweeping robot is performing powder cleaning work on the internal mixer; When the powder sweeping robot is performing powder cleaning work on the internal mixer, the working time of the current working state of the powder sweeping robot and / or the remaining time of the current working state are displayed according to the working status information of the powder sweeping robot, and the current position of the powder sweeping robot and the corresponding current position of the internal mixer are displayed according to the second position information of the powder sweeping robot and the first position information of the corresponding internal mixer.

7. The control method according to any one of claims 1 to 6, characterized in that: The method further comprises: Whenever it is determined according to the second state information that the powder sweeping robot is performing powder cleaning work on the internal mixer, a first image obtained by the powder sweeping robot photographing the mixing chamber of the internal mixer is acquired and displayed in real time.

8. The control method according to any one of claims 1 to 6, characterized in that: When receiving the control instruction, the working state of the corresponding internal mixer and the powder sweeping robot is controlled according to the control instruction, so as to control the powder sweeping robot to perform powder cleaning work on the internal mixer, including: When receiving the first control instruction, controlling the first target powder sweeping robot corresponding to the first control instruction to move to the corresponding first target internal mixer, and controlling the first target internal mixer to stop working and open the feeding door; Controlling the first target powder sweeping robot to use at least one powder sweeping workpiece to perform powder cleaning work on the mixing chamber of the first target internal mixer; When the second control instruction is received, the second target powder sweeping robot corresponding to the second control instruction is controlled to stop the powder cleaning work, and the corresponding second target internal mixer is controlled to close the feeding door and continue to work.

9. The control method according to claim 1, characterized in that: The method further comprises: Determining whether the internal mixer is in a normal working state based on the first state information of each internal mixer; When it is determined that the internal mixer is not in a normal working state, the powder sweeping robot corresponding to the internal mixer is controlled to cancel the cleaning task corresponding to the internal mixer.

10. The control method according to claim 9, characterized in that: The first state information includes the current working temperature and the current working state of the internal mixer, and judging whether the internal mixer is in a normal working state based on the first state information of each internal mixer includes: When the current operating temperature is higher than the warning temperature, it is determined that the internal mixer is not in a normal working state; or When the current working state is a fault state, it is determined that the internal mixer is not in a normal working state; otherwise, it is determined that the internal mixer is in a normal working state.

11. The control method according to claim 1, characterized in that: The method further comprises: Determining whether the powder sweeping robot is in a normal working state based on the second state information of the powder sweeping robot corresponding to each of the internal mixers; When it is determined that the powder sweeping robot is not in a normal working state, one of the powder sweeping robots in a normal working state is selected according to preset rules as the powder sweeping robot corresponding to the internal mixer, and the powder sweeping robot corresponding to the internal mixer is used to perform powder cleaning work on the internal mixer chamber of the internal mixer.

12. The control method according to claim 11, characterized in that: The second status information includes the second position information and working status information of the powder sweeping robot, and judging whether the powder sweeping robot is in a normal working state based on the second status information of the powder sweeping robot corresponding to each internal mixer includes: When it is determined based on the second state information that the powder sweeping robot corresponding to the internal mixer does not move for a first preset time and is not in a charging state, it is determined that the powder sweeping robot is not in a normal working state; or When it is determined based on the working status information that the powder sweeping robot is in a fault state, it is determined that the powder sweeping robot is not in a normal working state; otherwise, it is determined that the powder sweeping robot is in a normal working state.

13. The control method according to claim 11, characterized in that: The first state information further includes the first position information of the internal mixer, the second state information further includes the second position information of the powder sweeping robot, and when it is determined that the powder sweeping robot is not in a normal working state, selecting the powder sweeping robot from other powder sweeping robots in a normal working state according to a preset rule as the powder sweeping robot corresponding to the internal mixer, comprises: When it is determined that the powder sweeping robot is not in a normal working state, determining a cleaning time period of the internal mixer based on the first state information of the internal mixer; Determining all powder sweeping robots that are in an idle state during a cleaning time period of the internal mixer based on the second state information of all the powder sweeping robots; Based on the first position information of the internal mixer and the second position information of all corresponding idle powder sweeping robots, a powder sweeping robot closest to the internal mixer is selected from all the idle powder sweeping robots as the powder sweeping robot corresponding to the internal mixer.

14. A powder sweeping robot, characterized in that: The powder sweeping robot comprises: at least one processor; and, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can perform the control method according to any one of claims 1 to 13.

15. An internal mixer, characterized in that: It comprises an internal mixer body and the powder sweeping robot as claimed in claim 14, wherein the powder sweeping robot is installed on the internal mixer body, a mixing chamber is provided on the internal mixer body, a pressure hammer is provided in the mixing chamber, and the powder sweeping robot is used to drive a powder sweeping workpiece to clean the powder on the inner wall of the mixing chamber and the surface of the pressure hammer.

16. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores an executable program, and the executable program is executed by a processor to implement the control method according to any one of claims 1 to 13.

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